The embodiment of the invention discloses a lane changing control method and device, computer equipment and a readable storage medium, and relates to the technical field of automatic driving. The method comprises the steps of judging whether a first continuous lane changing condition is met or not when a lane changing cancel request is received in the lane changing operation execution process of the automatic driving vehicle; when the first continuous lane changing condition is met, judging whether a second continuous lane changing condition is met or not; the first continuous lane changing condition and the second continuous lane changing condition are respectively one of the following conditions: the vehicle head point on the same side of the lane changing direction corresponding to the lane changing operation crosses a lane line between the current lane and the target lane; the preview points cross the lane line, the distance between the preview points and the lane line is larger than or equal to a preset distance threshold value, and the preview points are points where the vehicle head points on the same side extend by a preset distance in the vehicle advancing direction in the longitudinal direction of the vehicle; and when the second continuous lane changing condition is met, continuing to complete the lane changing operation. According to the embodiment of the invention, the lane changing operation of the autonomous vehicle can be accurately controlled.
本发明实施例公开一种变道控制方法、装置、计算机设备及可读存储介质,涉及自动驾驶技术领域。该方法包括:在自动驾驶车辆执行变道操作过程中,当接收到取消变道请求时,判断是否满足第一继续变道条件;当满足第一继续变道条件时,判断是否满足第二继续变道条件;第一继续变道条件和第二继续变道条件分别为以下其一:与变道操作对应的变道方向同侧的车头点跨过当前车道和目标车道之间的车道线;预瞄点跨过车道线且预瞄点与车道线的间距大于或等于预设距离阈值,预瞄点为同一侧车头点沿车辆纵向方向向车辆前进方向延长预定距离的点;当满足第二继续变道条件时,继续完成变道操作。本发明实施例可以准确地对自动驾驶车辆的变道操作进行控制。
Lane changing control method and device, computer equipment and readable storage medium
一种变道控制方法、装置、计算机设备及可读存储介质
2024-10-18
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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